Various implementations include microphone arrays and related speaker systems. In one implementation, a microphone array is mounted in a housing having a primary X axis, a primary Y axis perpendicular to the primary X axis, and a primary Z axis perpendicular to the primary X axis and the primary Y axis. The microphone array can include: a set of microphones positioned in a single plane perpendicular to the primary Z axis of the housing and axially asymmetric with respect to both the primary X axis of the housing and the primary Y axis of the housing. In some cases, all microphones in the set of microphones are stationary relative to the housing.